version: 66.07.10.p01
glider: 573
mission: 9
dive: 446
start: 5 16 115 10 57 16
data:
$ID,573
$MISSION,9
$DIVE,446
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,348
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52922
$LENGTH,1.8
$NAV_MODE,2
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-3415
$TGT_DEFAULT_LON,2600
$TGT_AUTO_DEFAULT,0
$SM_CC,611.52295
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14891.973
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3034
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1919
$C_ROLL_CLIMB,1758
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,7
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2902
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-86.704987
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,445
$GPS1,160515,103813,-3436.338,2517.270,32,1.6,35,-27.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-56.7
$GPS2,160515,105653,-3436.335,2517.431,45,1.3,45,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3440.000,2520.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.229,0.204
$KALMAN_X,-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
$KALMAN_Y,-14362.4,-6812.0,-2167.9,-3593.3,-569.5
$MHEAD_RNG_PITCHd_Wd,222.8,7835,-16.9,-10.010
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,104,0.00,0.00,-75.75,0.000,2,0.000,0.000,79,1931,2358,0,0,0,0,0,0
$GC,106,-1.05,-170.3,3.0,-3.0,9,160,10.98,2.53,-35.83,0.000,4,0.240,0.108,2675,3364,3599,0,0,0,0,0,0
$GC,296,-0.86,-170.3,36.9,-21.2,37,304,0.28,2.53,0.00,0.000,6,0.171,0.093,2750,1914,3601,0,0,0,0,0,0
$GC,446,-0.80,-170.3,60.4,-15.2,62,454,0.10,2.47,0.00,0.000,4,0.189,0.096,2774,475,3603,0,0,0,0,0,0
$GC,524,-0.80,-170.3,71.3,-13.2,75,533,0.00,2.65,0.00,0.000,6,0.000,0.106,2766,1916,3603,0,0,0,0,0,0
$GC,876,-0.80,-170.3,113.3,-12.1,127,880,0.00,2.45,0.00,0.000,4,0.000,0.096,2755,3358,3605,0,0,0,0,0,0
$GC,975,-0.80,-170.3,126.1,-12.0,135,984,0.05,2.50,0.00,0.000,6,0.150,0.090,2769,1928,3606,0,0,0,0,0,0
$GC,1301,-0.80,-170.3,167.4,-12.8,166,1306,0.00,2.47,0.00,0.000,4,0.000,0.093,2769,471,3606,0,0,0,0,0,0
$GC,1352,-0.80,-170.3,174.1,-13.3,170,1357,0.00,2.50,0.00,0.000,6,0.000,0.080,2760,1929,3606,0,0,0,0,0,0
$GC,1677,-0.80,-170.3,215.7,-12.8,200,1681,0.00,2.45,0.00,0.000,4,0.000,0.102,2749,3346,3604,0,0,0,0,0,0
$GC,1880,-0.80,-170.3,240.8,-11.7,217,1888,0.03,2.50,0.00,0.000,6,0.177,0.093,2767,1923,3603,0,0,0,0,0,0
$GC,2206,-0.80,-170.3,280.9,-12.5,248,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1923,3601,0,0,0,0,0,0
$GC,2525,-0.80,-170.3,320.2,-12.1,278,2529,0.00,2.45,0.00,0.000,4,0.000,0.092,2767,480,3600,0,0,0,0,0,0
$GC,2553,-0.80,-170.3,323.8,-12.6,280,2558,0.05,2.45,0.00,0.000,6,0.228,0.076,2767,1921,3600,0,0,0,0,0,0
$GC,2878,-0.80,-170.3,364.2,-11.8,310,2882,0.00,2.53,0.00,0.000,4,0.000,0.111,2757,3345,3599,0,0,0,0,0,0
$GC,3011,-0.82,-170.3,379.5,-11.4,321,3018,0.00,2.55,0.00,0.000,6,0.000,0.106,2757,1914,3598,0,0,0,0,0,0
$GC,3352,-0.82,-170.3,422.2,-12.9,345,3356,0.00,2.42,0.00,0.000,4,0.000,0.088,2757,481,3596,0,0,0,0,0,0
$GC,3392,-0.82,-170.3,427.9,-14.1,347,3397,0.08,2.40,0.00,0.000,6,0.197,0.066,2762,1921,3597,0,0,0,0,0,0
$GC,3719,-0.82,-170.3,472.3,-13.6,363,3724,0.00,2.53,0.00,0.000,4,0.000,0.117,2753,3334,3594,0,0,0,0,0,0
$GC,3859,-0.82,-170.3,490.7,-12.5,369,3863,0.00,2.55,0.00,0.000,6,0.000,0.105,2753,1914,3593,0,0,0,0,0,0
$STATE,3953,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3953,begin apogee
$GC,3958,-0.25,0.0,502.4,12.4,374,4096,0.68,0.00,133.80,0.901,6,0.154,0.000,2951,1758,2902,0,0,0,0,0,0
$STATE,4097,end apogee,CONTROL_FINISHED_OK
$STATE,4097,begin climb
$GC,4099,1.05,170.3,511.4,0.0,381,4251,1.27,2.45,141.27,0.870,4,0.104,0.053,3376,329,2206,0,0,0,0,0,0
$GC,4276,0.99,262.0,512.8,6.4,389,4364,0.10,2.40,79.07,0.849,6,0.173,0.036,3354,1761,1834,0,0,0,0,0,0
$GC,4671,0.92,262.0,468.5,12.1,408,4675,0.10,2.40,0.00,0.000,4,0.188,0.082,3329,3175,1828,0,0,0,0,0,0
$GC,4726,0.86,262.0,461.9,11.4,410,4735,0.10,2.45,0.00,0.000,6,0.191,0.086,3316,1756,1828,0,0,0,0,0,0
$GC,5043,0.83,262.0,429.1,10.6,426,5048,0.05,2.33,0.00,0.000,4,0.240,0.063,3316,330,1826,0,0,0,0,0,0
$GC,5185,0.80,262.0,414.0,11.0,432,5190,0.10,2.28,0.00,0.000,6,0.168,0.041,3290,1760,1826,0,0,0,0,0,0
$GC,5507,0.83,287.3,385.9,9.0,454,5534,0.00,2.42,22.00,0.821,4,0.000,0.087,3290,3183,1729,0,0,0,0,0,0
$GC,5580,0.83,287.3,379.0,10.0,460,5584,0.00,2.50,0.00,0.000,6,0.000,0.093,3299,1760,1728,0,0,0,0,0,0
$GC,5905,0.89,337.2,349.9,8.0,490,5954,0.05,2.42,43.25,0.817,4,0.161,0.061,3356,329,1527,0,0,0,0,0,0
$GC,6117,0.83,337.2,323.9,12.7,508,6127,0.15,2.33,0.00,0.000,6,0.129,0.039,3307,1758,1521,0,0,0,0,0,0
$GC,6442,0.83,337.2,291.2,10.5,539,6446,0.00,2.35,0.00,0.000,4,0.000,0.076,3307,3177,1519,0,0,0,0,0,0
$GC,6485,0.83,337.2,286.0,11.9,542,6494,0.00,2.47,0.00,0.000,6,0.000,0.088,3315,1757,1519,0,0,0,0,0,0
$GC,6813,0.83,337.2,249.8,10.8,573,6817,0.00,2.30,0.00,0.000,4,0.000,0.061,3327,320,1519,0,0,0,0,0,0
$GC,6988,0.83,337.2,229.1,11.9,588,6993,0.10,2.28,0.00,0.000,6,0.159,0.038,3301,1760,1517,0,0,0,0,0,0
$GC,7314,0.88,349.5,197.2,9.5,618,7329,0.00,2.33,10.12,0.652,4,0.000,0.079,3301,3178,1477,0,0,0,0,0,0
$GC,7355,0.91,349.5,193.0,10.5,621,7359,0.00,2.45,0.00,0.000,6,0.000,0.090,3310,1751,1477,0,0,0,0,0,0
$GC,7680,0.91,349.5,157.6,11.2,651,7684,0.00,2.28,0.00,0.000,4,0.000,0.058,3321,334,1477,0,0,0,0,0,0
$GC,7816,0.91,349.5,141.2,11.9,662,7824,0.00,2.25,0.00,0.000,6,0.000,0.038,3321,1761,1476,0,0,0,0,0,0
$GC,8143,0.91,349.5,104.6,10.5,693,8148,0.00,2.42,0.00,0.000,4,0.000,0.093,3321,3181,1476,0,0,0,0,0,0
$GC,8183,0.91,349.5,99.8,12.8,696,8192,0.00,2.50,0.00,0.000,6,0.000,0.091,3330,1753,1475,0,0,0,0,0,0
$GC,8536,0.91,349.5,59.9,11.8,757,8543,0.00,2.28,0.00,0.000,4,0.000,0.059,3341,323,1475,0,0,0,0,0,0
$GC,8635,0.95,380.8,49.7,8.8,774,8671,0.00,2.30,27.65,0.633,6,0.000,0.044,3341,1745,1348,0,0,0,0,0,0
$GC,9034,1.03,399.9,10.5,9.3,839,9052,0.08,2.28,9.23,0.486,4,0.115,0.051,3410,329,1271,0,0,0,0,0,0
$STATE,9102,end climb,SURFACE_DEPTH_REACHED
$STATE,9102,begin surface coast
$FINISH,1.3,1.008927
$STATE,9123,end surface coast,CONTROL_FINISHED_OK
$STATE,9123,begin surface
$SM_CCo,9144,97.30,0.046,0,0,406,611.52
$SM_GC,2.03,0.00,0.00,97.30,0.000,0.000,0.046,74,1938,406,-9.25,0.54,611.52
$IRIDIUM_FIX,-3419.93,2516.66,120308,000056
$TT8_MAMPS,0.026964
$HUMID,59.17
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,480.1,37.2
$24V_AH,23.3,44.581
$10V_AH,10.1,35.862
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.000,102.525,466.400,97.300,0.000,81.273,161.599,514.747,11.250,0.000,47.828,2184.965,4274.113,645.579,2991.937,252.431,0.000,1537.922,0.000,2069.353,0.000,72.097,0.000
$DEVICE_MAMPS,240.210,145.350,901.170,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.556,1442.170,834.392,308.323,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,60533,852
$CAP_FILE_SIZE,121780,0
$CFSIZE,2097086464,2045378560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.161, 98.4,1
$GPS,160515,133235,-3437.696,2517.559,41,1.2,41,-27.8